CN102161204A - Double joint and equidirectional drive hybrid under-actuated robot finger device - Google Patents
Double joint and equidirectional drive hybrid under-actuated robot finger device Download PDFInfo
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- CN102161204A CN102161204A CN 201110091950 CN201110091950A CN102161204A CN 102161204 A CN102161204 A CN 102161204A CN 201110091950 CN201110091950 CN 201110091950 CN 201110091950 A CN201110091950 A CN 201110091950A CN 102161204 A CN102161204 A CN 102161204A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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Abstract
The invention discloses a double joint and equidirectional drive hybrid under-actuated robot finger device, which belongs to the technical field of robot hands. The device comprises a base, a motor, a decelerator, a base shaft, a proximal joint shaft, a middle finger segment, a distal joint shaft, a tail finger segment, a plurality of gears, an equidirectional drive mechanism and a spring part. By adopting the motor, the gear drive with different drive ratios at different paths, the equidirectional drive mechanism, the spring part and the like, the device comprehensively achieves the hybrid under-actuated grasping effect that fingers are coupled to grasp objects first and then self-adaptive to the different objects; each finger segment has a great grasping force, so objects are grasped more stably; and fingers are controlled by a few motors and have a plurality of flexible segments, so operation and control are easier. The device has a simple and reliable structure, small energy loss and high drive efficiency, and is low in cost, convenient to assemble and maintain and similar. Besides, the shape of the device is similar to human hand, so the device is suitable to be used as the finger part of a humanoid robot.
Description
Technical field
The invention belongs to the robot technical field, particularly a kind of doublejointed is the structural design of the compound under-actuated robot finger device of transmission in the same way.
Background technology
Hand is very important organ concerning the people, and in the anthropomorphic robot field, the function that strengthens robot is significant naturally.On the one hand, can make the mechanical hand action more various accurately by increase joint number, driving number, but can make mechanism's complexity loaded down with trivial details so again simultaneously; On the other hand, if too pursue mechanism simple, then certainly will have a negative impact to the flexibility of mechanical hand and the accuracy of grasping movement.Simultaneously, robot requires to guarantee simultaneously small and exquisite flexible and enough grasp forces.Still exist many technical barriers in this field at present.
So-called compound under-actuated robot finger device, being meant that this finger can be realized being coupled grasping to owe to drive with self adaptation grasps combine compound and owes to drive extracting, be robot finger apparatus in crooked grasping object process, run into and respectively refer to that section is in the bending simultaneously of certain angle ratio before the object; And after finger is run into object, can adapt to object surface shape again automatically, complete envelope object, and the robot finger apparatus by a plurality of joints of driver drives only.
Existing a kind of robot finger apparatus, as Chinese invention patent CN101664929, mainly by pedestal, motor, decelerator, nearly joint shaft, the middle part section of finger, far joint shaft, the end section of finger, coupled transmission mechanism, owe drive transmission device and a plurality of spring spare constitutes.This device can realize that compound owing drives extracting, and shortcoming is mechanism's complexity, the installation and maintenance difficulty; Spring number of packages order is too much, utilizes the contradiction between spring spare decoupling zero mediation coupled transmission mechanism and the self adaptation transmission mechanism, usually makes that a plurality of spring spare deformation are bigger, causes excessive and unnecessary energy loss.
Summary of the invention
The present invention is intended at the deficiencies in the prior art part, and a kind of doublejointed compound under-actuated robot finger device of transmission in the same way is provided.This device can be realized that coupling and self adaptation are compound and owe to drive grasping movement, promptly not only have the multi-joint coupled characteristic of grasp motion personification, and have both the self-adapting grasping characteristic to difformity, big wisp; Only need single motor-driven when having more flexible joint, reduce and control difficulty and cost; Simple in structure, energy loss is little, transmission efficiency is high.
Technical scheme of the present invention is as follows:
Doublejointed of the present invention is the compound under-actuated robot finger device of transmission in the same way, comprises motor (1), decelerator (2), pedestal (3), nearly joint shaft (42), joint shaft (43) far away, the middle part section of finger (51) and the end section of finger (52); Described motor (1) and decelerator (2) all are fixed on the pedestal (3), and the output shaft of motor links to each other with input shaft of speed reducer; Described nearly joint shaft (42) is sheathed in the pedestal (3), and described joint shaft far away (43) is sheathed in the middle part section of finger (51), and the described middle part section of finger (51) is fixed on the nearly joint shaft (42); The described end section of finger (52) is fixed on the joint shaft far away (43); It is characterized in that: this device also comprises pedestal axle (41), first gear (61), second gear (62), the 3rd gear (63), the 4th gear (64), driving wheel (71), driven pulley (72), transmission mechanism and spring spare (9) in the same way; The output shaft of described decelerator (2) links to each other with pedestal axle (41); Described pedestal axle (41) is sheathed in the pedestal (3), and described first gear, second geared sleeve are fixed on the pedestal axle (41); Described the 3rd gear (63) is socketed on nearly joint shaft (42) and upward and with first gear (61) meshes, and described the 4th gear (64) is socketed on nearly joint shaft (42) and goes up and mesh with second gear (62); Described driving wheel (71) is socketed on the nearly joint shaft (42), and driving wheel (71) is affixed with the 4th gear (64); Described driven pulley (72) is fixed on the joint shaft far away (43); Described transmission mechanism in the same way connects driving wheel (71) and driven pulley (72), and transmission mechanism makes driving wheel (71) consistent with the rotation direction of driven pulley (72) in the same way: all towards grasping the object direction or all deviating from and grasp the rotation of object direction; Described first gear (61) is 1 with the gearratio of the 3rd gear (63): a, and then described second gear (62) is a with the gearratio of the 4th gear (64): 1; The two ends of described spring spare (9) connect the 3rd gear (63) and nearly joint shaft (42) respectively.
Doublejointed of the present invention is the compound under-actuated robot finger device of transmission in the same way, it is characterized in that: described transmission mechanism in the same way adopts one or more the series connection in belt wheel transmission mechanism, rope sheave transmission mechanism, chain wheel driving mechanism, gear drive, rack and pinion drive mechanism and the jointed gear unit of one-level at least.
Doublejointed of the present invention is the compound under-actuated robot finger device of transmission in the same way, it is characterized in that: described spring spare (9) uses extension spring, torsion spring, stage clip, sheet spring or elastic threads.
The present invention compared with prior art has the following advantages and the high-lighting effect:
Apparatus of the present invention adopt motor, the gear drive of multichannel different drive ratios, transmission mechanism and spring spare etc. in the same way, comprehensively realized finger coupling earlier grasp object then self-adapting grasping different objects compound owe to drive and grasp effect; Each refers to that Duan Jun has considerable grasp force, and it is firmly stable more to grasp object; Finger only needs to possess a plurality of flexible finger sections again by a small amount of motor, and operation control easily.This apparatus structure is simple and reliable, and energy loss is little, and the transmission efficiency height is with low cost, and assembling is safeguarded convenient, and profile and staff are similar, is suitable as anthropomorphic robot's finger part.
Description of drawings
Fig. 1 is the doublejointed provided by the invention part key diagram of the embodiment of the compound under-actuated robot finger device of transmission in the same way.
Fig. 2 is the doublejointed provided by the invention outside drawing of the embodiment of the compound under-actuated robot finger device of transmission in the same way.
Fig. 3 is the doublejointed provided by the invention positive surface parts key diagram of the embodiment of the compound under-actuated robot finger device of transmission in the same way.
Fig. 4 is the doublejointed provided by the invention left view of the embodiment of the compound under-actuated robot finger device of transmission in the same way.
Fig. 5 be doublejointed provided by the invention in the same way in the compound under-actuated robot finger device of transmission first gear and the 3rd gear adopt 1: the part scheme of installation the during gearratio of a, wherein a＞1 also is the scheme that present embodiment adopts;
Fig. 6 be doublejointed provided by the invention in the same way in the compound under-actuated robot finger device of transmission first gear and the 3rd gear adopt 1: the part scheme of installation the during gearratio of a, wherein a=1;
Fig. 7 be doublejointed provided by the invention in the same way in the compound under-actuated robot finger device of transmission first gear and the 3rd gear adopt 1: the part scheme of installation the during gearratio of a, wherein a＜1;
Fig. 8 is doublejointed provided by the invention three kinds of spring spare installation site schematic diagrames of the compound under-actuated robot finger device of transmission in the same way, and wherein spring spare connects nearly joint shaft and the middle part section of finger.
Fig. 9 is doublejointed provided by the invention three kinds of spring spare installation site schematic diagrames of the compound under-actuated robot finger device of transmission in the same way, and wherein spring spare connects first gear and pedestal axle.
Figure 10 is doublejointed provided by the invention three kinds of spring spare installation site schematic diagrames of the compound under-actuated robot finger device of transmission in the same way, and wherein spring spare connects the 3rd gear and nearly joint shaft, and this also is the scheme of installation of the spring spare of present embodiment
Figure 11 is doublejointed provided by the invention a kind of mode schematic diagram of the compound under-actuated robot finger device installation of transmission two-man act spare in the same way.
Figure 12 be doublejointed provided by the invention in the same way in the compound under-actuated robot finger device of transmission first gear and the 3rd gear adopt 1: the crooked schematic diagram the during gearratio of a, wherein a＞1 also is the scheme that present embodiment adopts.
Figure 13 be doublejointed provided by the invention in the same way in the compound under-actuated robot finger device of transmission first gear and the 3rd gear adopt 1: the crooked schematic diagram the during gearratio of a, wherein a=1.
Figure 14 be doublejointed provided by the invention in the same way in the compound under-actuated robot finger device of transmission first gear and the 3rd gear adopt 1: the crooked schematic diagram the during gearratio of a, wherein a＜1.
Figure 15, Figure 16, Figure 17 are that present embodiment is illustrated with the middle part section of finger, the end section of finger coupling grasping object process.
Figure 18, Figure 19, Figure 20 are the schematic diagrames of self adaptation grasping object process after present embodiment is coupled earlier with the middle part section of finger, the end section of finger.Wherein Figure 18, Figure 19 are finger coupling BENDING PROCESS, and Figure 20 is the end section of a finger self adaptation grasping object process.
In Fig. 1 to Figure 20:
The 1-motor, the 2-decelerator, the 3-pedestal,
41-pedestal axle, the nearly joint shaft of 42-, 43-joint shaft far away,
The 51-middle part section of finger, the 52-end section of finger, 601-first bevel gear,
602-second bevel gear, 61-first gear, 62-second gear,
63-the 3rd gear, 64-the 4th gear, the 71-driving wheel,
The 72-driven pulley, 8-driving member, 9-spring spare.
The specific embodiment
Be described in further detail concrete structure of the present invention and operation principle below in conjunction with drawings and Examples.
Doublejointed of the present invention is a kind of embodiment of the compound under-actuated robot finger device of transmission in the same way, as shown in Figures 1 to 4, comprises motor 1, decelerator 2, pedestal 3, nearly joint shaft 42, joint shaft 43 far away, the middle part section of finger 51 and the end section of finger 52; Described motor 1 and decelerator 2 all are fixed on the pedestal 3, and the output shaft of motor links to each other with input shaft of speed reducer; Described nearly joint shaft 42 is sheathed in the pedestal 3, and described joint shaft 43 far away is sheathed in the section of finger 51 of middle part, and the described middle part section of finger 51 is fixed on the nearly joint shaft 42; The described end section of finger 52 is fixed on the joint shaft 43 far away; This device also comprises pedestal axle 41, first gear 61, second gear 62, the 3rd gear 63, the 4th gear 64, driving wheel 71, driven pulley 72, transmission mechanism and spring spare 9 in the same way; The output shaft of described decelerator 2 links to each other with pedestal axle 41; Described pedestal axle 41 is sheathed in the pedestal 3, and described first gear, second geared sleeve are fixed on the pedestal axle 41; Described the 3rd gear 63 is socketed on the nearly joint shaft 42 and with first gear 61 and meshes, and described the 4th gear 64 is socketed on the nearly joint shaft 42 and with second gear 62 and meshes, and the 3rd gear 63, the 4th gear 64 are with closely joint shaft is all not affixed; Described driving wheel 71 is socketed on the nearly joint shaft 42, and driving wheel 71 and the 4th gear 64 are affixed; Described driven pulley 72 is fixed on the joint shaft 43 far away; Described transmission mechanism in the same way connects driving wheel 71 and driven pulley 72, and transmission mechanism makes driving wheel 71 consistent with the rotation direction of driven pulley 72 in the same way: all towards grasping the object direction or all deviating from and grasp the rotation of object direction; The gearratio of described first gear 61 and the 3rd gear 63 is 1: a, and the gearratio of then described second gear 62 and the 4th gear 64 is a: 1; The two ends of described spring spare 9 connect the 3rd gear 63 and nearly joint shaft 42 respectively.
Transmission mechanism in the same way of the present invention adopts one or more the series connection in belt wheel transmission mechanism, rope sheave transmission mechanism, chain wheel driving mechanism, gear drive, rack and pinion drive mechanism and the jointed gear unit of one-level at least.In the present embodiment, transmission mechanism adopts the one-level synchronous pulley driving mechanism in the same way, comprises driving wheel 71, driven pulley 72 and is with 8 synchronously.
Spring spare 9 of the present invention uses extension spring, torsion spring, stage clip, sheet spring or elastic threads.Present embodiment adopts torsion spring.
Among the present invention, when first gear does not have different effects simultaneously with the gearratio of the 3rd gear:
A) when a＞1, apparatus of the present invention are coupling and the compound under-actuated robot finger device of self adaptation; Present embodiment is the situation that adopts a＞1, as Fig. 5, shown in Figure 12.
B) when a=1, apparatus of the present invention are self adaptation under-actuated robot finger devices, as Fig. 6, shown in Figure 13.
C) when a＜1, the present invention is the compound under-actuated robot finger device of reverse coupled and self adaptation, as Fig. 7, shown in Figure 14.
The position of spring spare of the present invention can be arranged on a place in following three places or many places and reach identical effect:
A) nearly joint shaft 42 and the middle part section of finger 51;
B) first gear 61 and pedestal axle 41;
C) the 3rd gear 63 and nearly joint shaft 42.
More than in three place's annexations, have at least a place to adopt spring spare to connect two parts; The affixed mode of then employing that does not adopt spring spare to connect in above-mentioned three place's annexations connects.Respectively shown in Fig. 8,9,10.Figure 11 is the scheme that adopts spring spare at two places.
Just adopted the two ends of spring spare to connect the 3rd gear and nearly joint shaft respectively in the present embodiment, and nearly joint shaft and the middle part section of finger are affixed, first gear and pedestal axle are affixed.As shown in figure 10.
In the present embodiment, arrange uprightly that for making motor 1 and decelerator 2 reducer output shaft and first bevel gear 601 are affixed, first bevel gear 601 and 602 engagements of second bevel gear, second bevel gear is fixed on the pedestal axle 41.
The concrete operation principle of present embodiment as Figure 15, Figure 16, Figure 17, Figure 18, Figure 19, shown in Figure 20, is described below:
The initial position of this device is in vertical position as shown in figure 15, and this moment, middle part section of finger 51 and the end section of finger 52 all were in straight configuration.When the robot finger in the present embodiment moves, motor 2 output shafts rotate, drive the pedestal axle 41 that is connected with first gear 61 and second gear 62 through decelerator 3 by first gear 61 and rotate, first gear 61 and 63 engagements of the 3rd gear will drive the 3rd gear 63 again and rotate simultaneously.
When not having the object blocks finger,, be fixed in seemingly on the nearly joint shaft 42 because the 3rd gear 63 links to each other with nearly joint shaft 42 by spring spare 9.Therefore when the 3rd gear 61 turns over angle [alpha] under first gear 61 drives, turn over angle [alpha] jointly with the nearly joint shaft 42 of drive and with the affixed middle part section of the finger 51 relative initial positions of nearly joint shaft.Simultaneously, because the gear train that second, third gear constitutes adopts 1: 1.4 gearratio, three, the gear train of the 4th gear formation adopts 1.4: 1 gearratio, when the 3rd gear 63 turns over angle [alpha], the 4th gear 64 turns over angle 1.96 α with relative initial position, and promptly relative the 3rd gear more than 63 turns over angle 0.96 α.Because the 4th gear 64 is affixed with driving wheel 71, driving wheel 71 forms the band drive connections with driven pulley 72 by flat rubber belting 8 again, thus driven pulley 72 will be relatively self axis turn over angle 0.96 α.Driven pulley 72 is affixed with the joint shaft far away 43 that is connected with the end section of finger 52, therefore will drive relative self axis of joint shaft far away 43 and turn over angle 0.96 α, promptly the end section of finger relative in the middle part of the section of finger turn over angle 0.96 α more.This process promptly realizes two joint coupled motions modes, as Figure 16, Figure 18 and shown in Figure 19.
When object was grasped in coupling, finger was pressed coupled modes shown in the preamble and is rotated, until finger middle part, the end section of finger inclusion complex surface, as Figure 16, shown in Figure 17.
When the self-adapting grasping object, finger by previously described two joint coupled motions mode bendings, contacts object until the middle part section of finger, as Figure 18, shown in Figure 19 before the contact object.When the middle part section of finger 51 contact objects, the middle part section of finger 51 will be subjected to stopping and stop operating.But because the existence of spring spare 9, the 3rd gear 63 still can be rotated further, and makes nearly joint shaft 42 produce the moment of torsion that continues rotation by spring spare 9, and this moment of torsion will make cover be fixed in the middle part section of finger generation on the nearly joint shaft 42 to the pressure of object, i.e. grip.Because the 3rd gear 63 is still rotatable, so object do not stop rotation with first gear 61 of the 3rd gear 63 engagements to the obstruction of the middle part section of finger 51, promptly turns with the affixed pedestal axle 41 and second gear 62 of first gear 61 yet.Therefore, with 62 engagements of second gear, and can under the drive of second gear 62, be rotated further around the 4th gear 64 that nearly joint shaft 42 rotates, and rotation passed to affixed with it driving wheel 71, then pass to driven pulley 72 by driving member 8, drive the end section of finger 52 and be rotated further, also fasten object until the end section of finger, as shown in figure 20 around self axis.This process promptly realizes the self-adapting grasping to the object of difformity size.
Apparatus of the present invention adopt motor, the gear drive of multichannel different drive ratios, transmission mechanism and spring spare etc. in the same way, comprehensively realized finger coupling earlier grasp object then self-adapting grasping different objects shape size compound owe to drive and grasp effect; Each refers to that Duan Jun has considerable grasp force, and it is firmly stable more to grasp object; Finger only needs to possess a plurality of flexible finger sections again by a small amount of motor, and operation control easily.This apparatus structure is simple and reliable, and is with low cost, and assembling is safeguarded convenient, and profile and staff are similar, is suitable as anthropomorphic robot's finger part.
Claims (3)
1. a doublejointed compound under-actuated robot finger device of transmission in the same way comprises motor (1), decelerator (2), pedestal (3), nearly joint shaft (42), joint shaft (43) far away, the middle part section of finger (51) and the end section of finger (52); Described motor (1) and decelerator (2) all are fixed on the pedestal (3), and the output shaft of motor links to each other with input shaft of speed reducer; Described nearly joint shaft (42) is sheathed in the pedestal (3), and described joint shaft far away (43) is sheathed in the middle part section of finger (51), and the described middle part section of finger (51) is fixed on the nearly joint shaft (42); The described end section of finger (52) is fixed on the joint shaft far away (43); It is characterized in that: this device also comprises pedestal axle (41), first gear (61), second gear (62), the 3rd gear (63), the 4th gear (64), driving wheel (71), driven pulley (72), transmission mechanism and spring spare (9) in the same way; The output shaft of described decelerator (2) links to each other with pedestal axle (41); Described pedestal axle (41) is sheathed in the pedestal (3), and described first gear, second geared sleeve are fixed on the pedestal axle (41); Described the 3rd gear (63) is socketed on nearly joint shaft (42) and upward and with first gear (61) meshes, and described the 4th gear (64) is socketed on nearly joint shaft (42) and goes up and mesh with second gear (62); Described driving wheel (71) is socketed on the nearly joint shaft (42), and driving wheel (71) is affixed with the 4th gear (64); Described driven pulley (72) is fixed on the joint shaft far away (43); Described transmission mechanism in the same way connects driving wheel (71) and driven pulley (72), and transmission mechanism makes driving wheel (71) consistent with the rotation direction of driven pulley (72) in the same way: all towards grasping the object direction or all deviating from and grasp the rotation of object direction; Described first gear (61) is 1 with the gearratio of the 3rd gear (63): a, and then described second gear (62) is a with the gearratio of the 4th gear (64): 1; The two ends of described spring spare (9) connect the 3rd gear (63) and nearly joint shaft (42) respectively.
2. doublejointed as claimed in claim 1 is the compound under-actuated robot finger device of transmission in the same way, it is characterized in that: described transmission mechanism in the same way adopts one or more the series connection in belt wheel transmission mechanism, rope sheave transmission mechanism, chain wheel driving mechanism, gear drive, rack and pinion drive mechanism and the jointed gear unit of one-level at least.
3. doublejointed as claimed in claim 1 is the compound under-actuated robot finger device of transmission in the same way, it is characterized in that: described spring spare (9) uses extension spring, torsion spring, stage clip, sheet spring or elastic threads.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110091950 CN102161204B (en) | 2011-04-13 | 2011-04-13 | Double joint and equidirectional drive hybrid under-actuated robot finger device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110091950 CN102161204B (en) | 2011-04-13 | 2011-04-13 | Double joint and equidirectional drive hybrid under-actuated robot finger device |
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| Publication Number | Publication Date |
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| CN102161204A true CN102161204A (en) | 2011-08-24 |
| CN102161204B CN102161204B (en) | 2012-10-10 |
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| CN 201110091950 Expired - Fee Related CN102161204B (en) | 2011-04-13 | 2011-04-13 | Double joint and equidirectional drive hybrid under-actuated robot finger device |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102814819A (en) * | 2012-06-07 | 2012-12-12 | 清华大学 | Finger device of bevel gear motor inverted type composite under-actuated robot |
| CN103395069A (en) * | 2013-08-13 | 2013-11-20 | 戴文钟 | Transmission mechanism capable of increasing relative pendulum angle between two components |
| CN104339361A (en) * | 2013-07-29 | 2015-02-11 | 上海德致伦电子科技有限公司 | Mechanical finger and manipulator |
| CN104440886A (en) * | 2014-12-07 | 2015-03-25 | 张纪山 | High-speed manipulator |
| CN105150225A (en) * | 2015-09-08 | 2015-12-16 | 清华大学 | Pinching-holding composite and adaptive robot finger device with rod and wheels connected in parallel |
| CN108931328A (en) * | 2018-04-17 | 2018-12-04 | 杭州电子科技大学 | A kind of joint of robot torque sensor |
| CN109605406A (en) * | 2018-12-11 | 2019-04-12 | 安阳工学院 | A kind of bionic finger |
| CN109794955A (en) * | 2019-03-01 | 2019-05-24 | 达闼科技（北京）有限公司 | Mechanical finger, manipulator and robot |
| CN110393588A (en) * | 2019-08-30 | 2019-11-01 | 山东威高手术机器人有限公司 | Doctor's station for Minimally Invasive Surgery |
| CN111150608A (en) * | 2020-01-17 | 2020-05-15 | 湖北英特搏智能机器有限公司 | Control method of rehabilitation robot for recognizing movement intention based on pressure sensor |
| CN112720554A (en) * | 2020-12-21 | 2021-04-30 | 哈尔滨工业大学 | Dexterous hand finger and manipulator of robot |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102814819A (en) * | 2012-06-07 | 2012-12-12 | 清华大学 | Finger device of bevel gear motor inverted type composite under-actuated robot |
| CN104339361A (en) * | 2013-07-29 | 2015-02-11 | 上海德致伦电子科技有限公司 | Mechanical finger and manipulator |
| CN104339361B (en) * | 2013-07-29 | 2016-06-01 | 上海德致伦电子科技有限公司 | Machinery finger and mechanical manipulator |
| CN103395069A (en) * | 2013-08-13 | 2013-11-20 | 戴文钟 | Transmission mechanism capable of increasing relative pendulum angle between two components |
| CN104440886A (en) * | 2014-12-07 | 2015-03-25 | 张纪山 | High-speed manipulator |
| CN105150225A (en) * | 2015-09-08 | 2015-12-16 | 清华大学 | Pinching-holding composite and adaptive robot finger device with rod and wheels connected in parallel |
| CN108931328A (en) * | 2018-04-17 | 2018-12-04 | 杭州电子科技大学 | A kind of joint of robot torque sensor |
| CN108931328B (en) * | 2018-04-17 | 2020-05-12 | 杭州电子科技大学 | Robot joint torque sensor |
| CN109605406A (en) * | 2018-12-11 | 2019-04-12 | 安阳工学院 | A kind of bionic finger |
| CN109605406B (en) * | 2018-12-11 | 2021-05-14 | 安阳工学院 | Bionic finger |
| CN109794955A (en) * | 2019-03-01 | 2019-05-24 | 达闼科技（北京）有限公司 | Mechanical finger, manipulator and robot |
| CN110393588A (en) * | 2019-08-30 | 2019-11-01 | 山东威高手术机器人有限公司 | Doctor's station for Minimally Invasive Surgery |
| CN110393588B (en) * | 2019-08-30 | 2024-05-03 | 山东威高手术机器人有限公司 | Doctor operation table for minimally invasive surgery |
| CN111150608A (en) * | 2020-01-17 | 2020-05-15 | 湖北英特搏智能机器有限公司 | Control method of rehabilitation robot for recognizing movement intention based on pressure sensor |
| CN112720554A (en) * | 2020-12-21 | 2021-04-30 | 哈尔滨工业大学 | Dexterous hand finger and manipulator of robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102161204B (en) | 2012-10-10 |
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